X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=skeleton.h;h=9729b64c04a95b7b052ba1daa3f280f444670a44;hb=5fa590f62aa7e62a8b6b07e10556c2ecc54cdca6;hp=6791d1c3f43693c624ea708cf05c29316957869b;hpb=22f62f001f21d1b91fefd9fc495c122d9ddf205a;p=carveJwlIkooP6JGAAIwe30JlM.git

diff --git a/skeleton.h b/skeleton.h
index 6791d1c..9729b64 100644
--- a/skeleton.h
+++ b/skeleton.h
@@ -2,9 +2,8 @@
  * Copyright (C) 2021-2022 Mt.ZERO Software, Harry Godden - All Rights Reserved
  */
 
-#ifndef SKELETON_H
-#define SKELETON_H
-
+#pragma once
+#include "vg/vg_lines.h"
 #include "model.h"
 
 struct skeleton
@@ -38,7 +37,9 @@ struct skeleton
    *anims;
    u32 anim_count;
 
+#if 0
    m4x3f *final_mtx;
+#endif
 
    struct skeleton_ik
    {
@@ -76,7 +77,7 @@ static void keyframe_copy_pose( mdl_keyframe *kfa, mdl_keyframe *kfb,
 
 /* apply a rotation from the perspective of root */
 static void keyframe_rotate_around( mdl_keyframe *kf, 
-                                       v3f origin, v3f offset, v4f q )
+                                    v3f origin, v3f offset, v4f q )
 {
    v3f v0, co;
    v3_add( kf->co, offset, co );
@@ -89,12 +90,18 @@ static void keyframe_rotate_around( mdl_keyframe *kf,
    q_normalize( kf->q );
 }
 
+static void keyframe_lerp( mdl_keyframe *kfa, mdl_keyframe *kfb, f32 t,
+                           mdl_keyframe *kfd ){
+   v3_lerp( kfa->co, kfb->co, t, kfd->co );
+   q_nlerp( kfa->q,  kfb->q,  t, kfd->q );
+   v3_lerp( kfa->s,  kfb->s,  t, kfd->s );
+}
+
 /*
  * Lerp between two sets of keyframes and store in dest. Rotations use Nlerp.
  */
 static void keyframe_lerp_pose( mdl_keyframe *kfa, mdl_keyframe *kfb, 
-                                   float t, mdl_keyframe *kfd, int count )
-{
+                                float t, mdl_keyframe *kfd, int count ){
    if( t <= 0.0001f ){
       keyframe_copy_pose( kfa, kfd, count );
       return;
@@ -104,11 +111,8 @@ static void keyframe_lerp_pose( mdl_keyframe *kfa, mdl_keyframe *kfb,
       return;
    }
 
-   for( int i=0; i<count; i++ ){
-      v3_lerp( kfa[i].co, kfb[i].co, t, kfd[i].co );
-      q_nlerp( kfa[i].q,  kfb[i].q,  t, kfd[i].q );
-      v3_lerp( kfa[i].s,  kfb[i].s,  t, kfd[i].s );
-   }
+   for( int i=0; i<count; i++ )
+      keyframe_lerp( kfa+i, kfb+i, t, kfd+i );
 }
 
 static 
@@ -202,21 +206,21 @@ int should_apply_bone( struct skeleton *skele, u32 id, anim_apply type )
  * Apply block of keyframes to skeletons final pose
  */
 static void skeleton_apply_pose( struct skeleton *skele, mdl_keyframe *pose,
-                                    anim_apply passtype )
-{
+                                 anim_apply passtype, m4x3f *final_mtx ){
    if( passtype == k_anim_apply_absolute ){
       for( u32 i=1; i<skele->bone_count; i++ ){
          mdl_keyframe *kf = &pose[i-1];
 
-         v3f *posemtx = skele->final_mtx[i];
+         v3f *posemtx = final_mtx[i];
 
          q_m3x3( kf->q, posemtx );
+         m3x3_scale( posemtx, kf->s );
          v3_copy( kf->co, posemtx[3] );
       }
       return;
    }
 
-   m4x3_identity( skele->final_mtx[0] );
+   m4x3_identity( final_mtx[0] );
    skele->bones[0].defer = 0;
    skele->bones[0].flags &= ~k_bone_flag_ik;
 
@@ -238,11 +242,12 @@ static void skeleton_apply_pose( struct skeleton *skele, mdl_keyframe *pose,
       /* pose matrix */
       mdl_keyframe *kf = &pose[i-1];
       q_m3x3( kf->q, posemtx );
+      m3x3_scale( posemtx, kf->s );
       v3_copy( kf->co, posemtx[3] );
       v3_add( temp_delta, posemtx[3], posemtx[3] );
 
       /* final matrix */
-      m4x3_mul( skele->final_mtx[ sb->parent ], posemtx, skele->final_mtx[i] );
+      m4x3_mul( final_mtx[ sb->parent ], posemtx, final_mtx[i] );
    }
 }
 
@@ -250,11 +255,12 @@ static void skeleton_apply_pose( struct skeleton *skele, mdl_keyframe *pose,
  * Take the final matrices and decompose it into an absolute positioned anim
  */
 static void skeleton_decompose_mtx_absolute( struct skeleton *skele, 
-                                                mdl_keyframe *anim ){
+                                             mdl_keyframe *anim,
+                                             m4x3f *final_mtx ){
    for( u32 i=1; i<skele->bone_count; i++ ){
       struct skeleton_bone *sb = &skele->bones[i];
       mdl_keyframe *kf = &anim[i-1];
-      m4x3_decompose( skele->final_mtx[i], kf->co, kf->q, kf->s );
+      m4x3_decompose( final_mtx[i], kf->co, kf->q, kf->s );
    }
 }
 
@@ -298,11 +304,12 @@ static void skeleton_create_inverses( struct skeleton *skele )
  * Apply a model matrix to all bones, should be done last
  */
 static 
-void skeleton_apply_transform( struct skeleton *skele, m4x3f transform )
+void skeleton_apply_transform( struct skeleton *skele, m4x3f transform,
+                               m4x3f *final_mtx )
 {
    for( u32 i=0; i<skele->bone_count; i++ ){
       struct skeleton_bone *sb = &skele->bones[i];
-      m4x3_mul( transform, skele->final_mtx[i], skele->final_mtx[i] );
+      m4x3_mul( transform, final_mtx[i], final_mtx[i] );
    }
 }
 
@@ -310,23 +317,21 @@ void skeleton_apply_transform( struct skeleton *skele, m4x3f transform )
  * Apply an inverse matrix to all bones which maps vertices from bind space into
  * bone relative positions
  */
-static void skeleton_apply_inverses( struct skeleton *skele )
-{
+static void skeleton_apply_inverses( struct skeleton *skele, m4x3f *final_mtx ){
    for( u32 i=0; i<skele->bone_count; i++ ){
       struct skeleton_bone *sb = &skele->bones[i];
       m4x3f inverse;
       m3x3_identity( inverse );
       v3_negate( sb->co, inverse[3] );
 
-      m4x3_mul( skele->final_mtx[i], inverse, skele->final_mtx[i] );
+      m4x3_mul( final_mtx[i], inverse, final_mtx[i] );
    }
 }
 
 /*
  * Apply all IK modifiers (2 bone ik reference from blender is supported)
  */
-static void skeleton_apply_ik_pass( struct skeleton *skele )
-{
+static void skeleton_apply_ik_pass( struct skeleton *skele, m4x3f *final_mtx ){
    for( u32 i=0; i<skele->ik_count; i++ ){
       struct skeleton_ik *ik = &skele->ik[i];
       
@@ -338,9 +343,9 @@ static void skeleton_apply_ik_pass( struct skeleton *skele )
           co_target,
           co_pole;
 
-      v3_copy( skele->final_mtx[ik->lower][3], co_base );
-      v3_copy( skele->final_mtx[ik->target][3], co_target );
-      v3_copy( skele->final_mtx[ik->pole][3], co_pole );
+      v3_copy( final_mtx[ik->lower][3], co_base );
+      v3_copy( final_mtx[ik->target][3], co_target );
+      v3_copy( final_mtx[ik->pole][3], co_pole );
 
       v3_sub( co_target, co_base, v0 );
       v3_sub( co_pole, co_base, v1 );
@@ -368,8 +373,8 @@ static void skeleton_apply_ik_pass( struct skeleton *skele )
       knee[0] = sinf(-rot) * l1;
       knee[1] = cosf(-rot) * l1;
 
-      m4x3_identity( skele->final_mtx[ik->lower] );
-      m4x3_identity( skele->final_mtx[ik->upper] );
+      m4x3_identity( final_mtx[ik->lower] );
+      m4x3_identity( final_mtx[ik->upper] );
 
       /* create rotation matrix */
       v3f co_knee;
@@ -386,7 +391,7 @@ static void skeleton_apply_ik_pass( struct skeleton *skele )
       v3_copy( co_base, transform[3] );
 
       m3x3_mul( transform, ik->ia, transform );
-      m4x3_copy( transform, skele->final_mtx[ik->lower] );
+      m4x3_copy( transform, final_mtx[ik->lower] );
 
       /* upper/knee bone */
       v3_copy( vaxis, transform[0] );
@@ -396,7 +401,7 @@ static void skeleton_apply_ik_pass( struct skeleton *skele )
       v3_copy( co_knee, transform[3] );
 
       m3x3_mul( transform, ik->ib, transform );
-      m4x3_copy( transform, skele->final_mtx[ik->upper] );
+      m4x3_copy( transform, final_mtx[ik->upper] );
    }
 }
 
@@ -405,21 +410,19 @@ static void skeleton_apply_ik_pass( struct skeleton *skele )
  *    Pose, IK, Pose(deferred), Inverses, Transform
  */
 static void skeleton_apply_standard( struct skeleton *skele, mdl_keyframe *pose,
-                                     m4x3f transform )
-{
-   skeleton_apply_pose( skele, pose, k_anim_apply_defer_ik );
-   skeleton_apply_ik_pass( skele );
-   skeleton_apply_pose( skele, pose, k_anim_apply_deffered_only );
-   skeleton_apply_inverses( skele );
-   skeleton_apply_transform( skele, transform );
+                                     m4x3f transform, m4x3f *final_mtx ){
+   skeleton_apply_pose( skele, pose, k_anim_apply_defer_ik, final_mtx );
+   skeleton_apply_ik_pass( skele, final_mtx );
+   skeleton_apply_pose( skele, pose, k_anim_apply_deffered_only, final_mtx );
+   skeleton_apply_inverses( skele, final_mtx );
+   skeleton_apply_transform( skele, transform, final_mtx );
 }
 
 /*
  * Get an animation by name
  */
 static struct skeleton_anim *skeleton_get_anim( struct skeleton *skele,
-                                                   const char *name )
-{
+                                                   const char *name ){
    for( u32 i=0; i<skele->anim_count; i++ ){
       struct skeleton_anim *anim = &skele->anims[i];
 
@@ -436,8 +439,7 @@ static struct skeleton_anim *skeleton_get_anim( struct skeleton *skele,
 static void skeleton_alloc_from( struct skeleton *skele,
                                     void *lin_alloc,
                                     mdl_context *mdl,
-                                    mdl_armature *armature )
-{
+                                    mdl_armature *armature ){
    skele->bone_count     = armature->bone_count+1;
    skele->anim_count     = armature->anim_count;
    skele->ik_count       = 0;
@@ -460,28 +462,26 @@ static void skeleton_alloc_from( struct skeleton *skele,
 
    skele->bones      = vg_linear_alloc( lin_alloc, bone_size );
    skele->ik         = vg_linear_alloc( lin_alloc, ik_size );
-   skele->final_mtx  = vg_linear_alloc( lin_alloc, mtx_size );
+   //skele->final_mtx  = vg_linear_alloc( lin_alloc, mtx_size );
    skele->anims      = vg_linear_alloc( lin_alloc, anim_size );
 
    memset( skele->bones, 0, bone_size );
    memset( skele->ik, 0, ik_size );
-   memset( skele->final_mtx, 0, mtx_size );
+   //memset( skele->final_mtx, 0, mtx_size );
    memset( skele->anims, 0, anim_size );
 }
 
-static void skeleton_fatal_err(void)
-{
+static void skeleton_fatal_err(void){
    vg_fatal_error( "Skeleton setup failed" );
 }
 
 /* Setup an animated skeleton from model. mdl's metadata should stick around */
 static void skeleton_setup( struct skeleton *skele,
-                               void *lin_alloc, mdl_context *mdl )
-{
+                            void *lin_alloc, mdl_context *mdl ){
    u32 ik_count = 0, collider_count = 0;
    skele->bone_count = 0;
    skele->bones = NULL;
-   skele->final_mtx = NULL;
+   //skele->final_mtx = NULL;
    skele->anims = NULL;
 
    if( !mdl->armatures.count ){
@@ -560,8 +560,7 @@ static void skeleton_setup( struct skeleton *skele,
    vg_success( "                     %u colliders\n", skele->collider_count );
 }
 
-static void skeleton_debug( struct skeleton *skele )
-{
+static void skeleton_debug( struct skeleton *skele, m4x3f *final_mtx ){
    for( u32 i=1; i<skele->bone_count; i ++ ){
       struct skeleton_bone *sb = &skele->bones[i];
 
@@ -569,8 +568,8 @@ static void skeleton_debug( struct skeleton *skele )
       v3_copy( sb->co, p0 );
       v3_add( p0, sb->end, p1 );
 
-      m4x3_mulv( skele->final_mtx[i], p0, p0 );
-      m4x3_mulv( skele->final_mtx[i], p1, p1 );
+      m4x3_mulv( final_mtx[i], p0, p0 );
+      m4x3_mulv( final_mtx[i], p1, p1 );
 
       if( sb->flags & k_bone_flag_deform ){
          if( sb->flags & k_bone_flag_ik ){
@@ -584,5 +583,3 @@ static void skeleton_debug( struct skeleton *skele )
          vg_line( p0, p1, 0xff00ffff );
    }
 }
-
-#endif /* SKELETON_H */